U.S. patent application number 15/347023 was filed with the patent office on 2018-05-10 for gear drive two-wheel scooter.
This patent application is currently assigned to Zake IP Holdings, LLC. The applicant listed for this patent is Zake IP Holdings, LLC. Invention is credited to Garrick Theodore Lankford, Michael David Marston, Weiwei Wang, Yong Wang.
Application Number | 20180127047 15/347023 |
Document ID | / |
Family ID | 62065471 |
Filed Date | 2018-05-10 |
United States Patent
Application |
20180127047 |
Kind Code |
A1 |
Lankford; Garrick Theodore ;
et al. |
May 10, 2018 |
Gear Drive Two-Wheel Scooter
Abstract
A gear drive balancing scooter is provided that has a left side,
a right side, and a center section located between the left and
right side. The center section is coupled to the right and left
sides through a gear. As the left side moves with respect to the
center section, the right side moves in an opposite direction with
respect to the center section. Both sides have a respective wheel
motor assembly that is used to balance the scooter. To steer the
scooter, the user angles one side differently than the other side.
The angle of each side determines the rate and direction that each
wheel motor assembly rotates. An optional staff extends upwardly
from the center section to provide stability.
Inventors: |
Lankford; Garrick Theodore;
(Elkhart, IN) ; Marston; Michael David; (Granger,
IN) ; Wang; Weiwei; (Shenzhen, CN) ; Wang;
Yong; (Shenzhen, CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Zake IP Holdings, LLC |
South Bend |
IN |
US |
|
|
Assignee: |
Zake IP Holdings, LLC
South Bend
IN
|
Family ID: |
62065471 |
Appl. No.: |
15/347023 |
Filed: |
November 9, 2016 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60L 50/52 20190201;
Y02T 10/70 20130101; B60L 2220/42 20130101; B60L 2250/10 20130101;
B62K 11/14 20130101; B60L 2200/24 20130101; B60L 2250/22 20130101;
B60L 2200/20 20130101; B62K 11/007 20161101; B60L 3/08 20130101;
B62M 7/12 20130101; B62J 99/00 20130101; B60L 15/2036 20130101;
Y02T 10/72 20130101; B60L 2200/16 20130101; B62K 3/002 20130101;
B62J 45/40 20200201; Y02T 10/64 20130101; B62J 45/20 20200201 |
International
Class: |
B62K 11/00 20060101
B62K011/00; B62K 3/00 20060101 B62K003/00; B62K 11/14 20060101
B62K011/14; B62M 7/12 20060101 B62M007/12; B62J 99/00 20060101
B62J099/00 |
Claims
1. A two-wheeled scooter adapted for use by a rider along a
surface, said surface being separate from said scooter, said
scooter comprising: a first portion having a first wheel rotatable
about a first axis by a first motor, said first wheel adapted to
contact said surface, said first motor in electrical communication
with a control board, said first portion having a level sensor and
a rider presence sensor in communication with said control board,
said rider presence sensor switchable between an absent state
defined by said rider not in contact with said first portion and a
present state defined by said rider in contact with said first
portion; a second portion having a second wheel rotatable about a
second axis by a second motor, said second wheel adapted to contact
said surface, said second motor in electrical communication with
said control board, said second portion having a level sensor and a
rider presence sensor in communication with said control board,
said rider presence sensor switchable between an absent state
defined by said rider not in contact with said second portion and a
present state defined by said rider in contact with said second
portion; when said first rider presence sensor is in said present
state, said control board adapted to rotate said first motor in a
forward direction when said level sensor detects a forward tilt,
said control board adapted to rotate said first motor in a reverse
direction when said level sensor detects a rearward tilt; when said
second rider presence sensor is in said present state, said control
board adapted to rotate said second motor in a forward direction
when said level sensor detects a forward tilt, said control board
adapted to rotate said second motor in a reverse direction when
said level sensor detects a rearward tilt; a central shaft having
an outside diameter with a central shaft axis; said first portion
receiving a portion of said central shaft and rotatable with
respect to said central shaft on said central shaft axis, said
first portion having a first gear rotatably fixed with respect to
said first portion with a radius larger than said outside diameter
of said central shaft, said first gear having a center
substantially coaxial to said central shaft axis; said second
portion receiving a portion of said central shaft and rotatable
with respect to said central shaft on said central shaft axis, said
second portion having a second gear having a radius larger than
said outside diameter, said second gear having a center
substantially coaxial to said central shaft axis; and a center
section located between said first and second portion and having a
spider gear rotatable therewith, said spider gear meshing with said
first and second gears, said spider gear rotatable about a spider
axis fixed with respect to said center section, said axis
perpendicular to and intersecting said central shaft axis, when
said first portion rotates with respect to said center section,
said second portion rotates in a direction opposite said first
portion, said center section having a staff extending from and
fixed with respect to said center section, said staff being
substantially perpendicular to said central shaft axis.
2. The scooter according to claim 1, said first axis being coaxial
to said second axis.
3. The scooter according to claim 2, said central shaft axis being
coaxial to said first and second axis.
4. The scooter according to claim 1, said staff being removably
affixed to said center section.
5. The scooter according to claim 1, said spider gear resisting
rotation with respect to said center section.
6. The scooter according to claim 1, said staff having controls in
communication with said control board.
7. A two-wheeled scooter adapted for use by a rider along a
surface, said surface being separate from said scooter, said
scooter comprising: a motherboard in electrical communication with
a first and second motor; a first portion having a first wheel
rotatable about a first axis by a first motor, said first wheel
adapted to contact said surface, said first motor in electrical
communication with said motherboard, said first portion having a
level sensor communication with said motherboard, said rider
presence sensor switchable between an absent state defined by said
rider not in contact with said first portion and a present state
defined by said rider in contact with said first portion; a second
portion having a second wheel rotatable about a second axis by a
second motor, said second wheel adapted to contact said surface,
said second motor in electrical communication with said
motherboard, said second portion having a level sensor in
communication with said motherboard, said rider presence sensor
switchable between an absent state defined by said rider not in
contact with said second portion and a present state defined by
said rider in contact with said second portion; said motherboard
adapted to rotate said first motor in a forward direction when said
level sensor detects a forward tilt, said motherboard adapted to
rotate said first motor in a reverse direction when said level
sensor detects a rearward tilt; said motherboard adapted to rotate
said second motor in a forward direction when said level sensor
detects a forward tilt, said motherboard adapted to rotate said
second motor in a reverse direction when said level sensor detects
a rearward tilt; a central shaft having an outside diameter with a
central shaft axis; said first portion rotatable with respect to
said central shaft on said central shaft axis, said first portion
having a first gear rotatably fixed with respect to said first
portion with a radius larger than said outside diameter of said
central shaft, said first gear having a center substantially
coaxial to said central shaft axis; said second portion rotatable
with respect to said central shaft on said central shaft axis, said
second portion having a second gear having a radius larger than
said outside diameter, said second gear having a center
substantially coaxial to said central shaft axis; and a center
section located between said first and second portion and having a
spider gear rotatable therewith, said spider gear meshing with said
first and second gears, said spider gear rotatable about a spider
axis, said axis perpendicular to and intersecting said central
shaft axis, when said first portion rotates with respect to said
center section, said second portion rotates in a direction opposite
said first portion.
8. The scooter according to claim 7, said spider axis fixed with
respect to said center section.
9. The scooter according to claim 8, said central shaft axis being
coaxial to said first and second axis.
10. The scooter according to claim 7, said first and second gears
being sector gears.
11. The scooter according to claim 7, said spider gear resisting
rotation with respect to said center section.
12. The scooter according to claim 7, said first and second
portions having a rider presence sensors, said rider presence
sensors switchable between an absent state defined by said rider
not in contact with said first and second portions and a present
state defined by said rider in contact with said first and second
portions.
13. The scooter of claim 12, when said rider presence sensors are
in said absent state, said motherboard allowing said first and
second wheels to freely rotate.
14. A two-wheeled scooter adapted for use by a rider along a
surface, said surface being separate from said scooter, said
scooter comprising: a first portion having a first wheel rotatable
about a first axis by a first motor, said first wheel adapted to
contact said surface, said first motor in electrical communication
with a first control board, said first portion having a first level
in communication with said first control board; a second portion
having a second wheel rotatable about a second axis by a second
motor, said second wheel adapted to contact said surface, said
second motor in electrical communication with a second control
board, said second portion having a second level sensor in
communication with said second control board; said first control
board adapted to rotate said first motor in a forward direction
when said first level sensor detects a forward tilt, said first
control board adapted to rotate said first motor in a reverse
direction when said first level sensor detects a rearward tilt;
said second control board adapted to rotate said second motor in a
forward direction when said second level sensor detects a forward
tilt, said second control board adapted to rotate said second motor
in a reverse direction when said second level sensor detects a
rearward tilt; a central shaft having an outside diameter with a
central shaft axis; said first portion receiving a portion of said
central shaft and rotatable with respect to said central shaft on
said central shaft axis, said first portion having a first gear
rotatably fixed with respect to said first portion with a radius
larger than said outside diameter of said central shaft, said first
gear having a center substantially coaxial to said central shaft
axis; said second portion receiving a portion of said central shaft
and rotatable with respect to said central shaft on said central
shaft axis, said second portion having a second gear having a
radius larger than said outside diameter, said second gear having a
center substantially coaxial to said central shaft axis; and a
center section located between said first and second portion and
having a spider gear rotatable therewith, said spider gear meshing
with said first and second gears, said spider gear rotatable about
a spider axis fixed with respect to said center section, said axis
perpendicular to and intersecting said central shaft axis, when
said first portion rotates with respect to said center section,
said second portion rotates in a direction opposite said first
portion.
15. The scooter according to claim 14, said first axis being
coaxial to said second axis.
16. The scooter according to claim 15, said central shaft axis
being coaxial to said first and second axis.
17. The scooter according to claim 14, said first and second gears
being sector gears.
18. The scooter according to claim 14, said spider gear resisting
rotation with respect to said center section.
19. The scooter according to claim 14, said first and second
portions having a rider presence sensors, said rider presence
sensors switchable between an absent state defined by said rider
not in contact with said first and second portions and a present
state defined by said rider in contact with said first and second
portions.
20. The scooter of claim 19, when said rider presence sensors are
in said absent state, said first and second control boards allowing
said first and second wheels to freely rotate.
Description
BACKGROUND OF THE INVENTION
[0001] This present disclosure relates to riding toys, namely
two-wheeled scooters, designed for a single person to stand on and
control by moving the position and angle of their feet. Other
devices exist in the art, such as the well-known Segway.RTM.
transporter, various aspects being covered in many U.S. patents.
These require a steering bar or other member that the user rotates
or twists to accomplish the steering. The forward and reverse
direction is caused by the user shifting their weight. Another
example is by Shane Chen, U.S. Pat. No. 8,738,278, covering a
personal transporter with independently moveable foot placement
sections. The Chen patent removes the steering bar and relies on
the user tilting the independently moveable foot placement sections
to move forward, backward, and steer.
[0002] The prior art has still-unresolved issues, such as the
inherent instability of independently moveable foot placement
sections. By allowing them to be fully independent, sudden
directional changes are possible. The device can begin dangerous
oscillations, particularly when the user is mounting or
dismounting. The Chen patent discloses that each independent foot
placement section controls a respective motor. The independent
nature frequently causes an inexperienced rider to lose balance and
fall, causing injuries and other harm. An improved device is
needed.
SUMMARY OF THE INVENTION
[0003] The present disclosure describes a scooter, personal
recreational toy, or fun travel device that is for a single user to
ride, and by shifting their weight or changing the angle of their
feet, can cause the device to steer, accelerate, decelerate, and
perform various tricks. The device improves on the Chen patent by
including a center section that couples the two halves. The left
and right sections are tied together through a spider gear held in
the center, allowing controlled movement between the left and right
sections. By controlling the movement between the left and right
sections, stability is increased, allowing for increased comfort
and safety, particularly for the novice. Optionally, a
return-to-center feature can be implemented using a spring, magnet,
or other means to further stabilize the scooter and provide an
easier learning curve for the beginner.
[0004] The present disclosure also relates to a synchronous
movement scooter which includes a left side, a right side, and a
rotating mechanism located between and coupled to both left and
right sides. The rotating mechanism is meshed with a gear portion
of the left side and a gear portion of the right side respectively
through a drive gear. When a user angles the left side or the right
side to turn over, the right side or the left side is automatically
driven by the drive gear to turn over reversely, thus the
synchronous movement scooter is controlled to turn left or right;
moreover, the radius of rotation of the synchronous movement
scooter is smaller so that it is easy for the user to operate and
control the synchronous movement scooter, and hazards occurred
during operating and controlling is prevented.
[0005] The movement principle of a synchronous movement scooter is
mainly established on a fundamental principle called "dynamic
stabilization (Dynamic Stabilization)", i.e., the automatic
balancing ability of the scooter itself. After the posture state of
a side is judged using built-in precise solid-state gyroscopes
(Solid-State Gyroscopes), and a proper instruction is calculated
out using a precise and high speed CPU, a motor is driven to
achieve a balancing effect.
[0006] Generally, the synchronous movement scooter may be operated
and controlled to swerve by angling the left and right sides or
changing center of gravity; however, the radius of rotation of the
synchronous movement scooter is too large, which is inconvenient to
swerve in narrow space. Furthermore, the synchronous movement
scooter may rotate in place by angling the left and right sides at
the same time and making them turn over towards different
directions; however, this operation and control manner requires a
user to have excellent coordination, and it is generally easier for
a beginner to grasp.
[0007] In order to solve the foregoing technical problems, the
present disclosure discloses a synchronous movement scooter,
characterized by including a left side, a right side, a rotating
mechanism, two sensing devices and controllers, wherein the
rotating mechanism comprises a connecting shaft, a left shaft
sleeve, a right shaft sleeve and a drive gear, the left shaft
sleeve and the right shaft sleeve are arranged in a left connecting
portion of the left side and a right connecting portion of the
right side respectively, the left end and the right end of the
connecting shaft are sheathed in the left shaft sleeve and the
right shaft sleeve respectively, the drive gear is pivoted in the
connecting shaft and located between the left connecting portion
and the right connecting portion, and is meshed with a left gear
portion of the left connecting portion and a right gear portion of
the right connecting portion; the two sensing devices are arranged
in the left side and in the right side respectively; and the
controllers are arranged in the left side and in the right side,
and are connected to the sensing devices, a left drive motor of the
left side and a right drive motor of the right side; wherein, the
left side or the right side turns over, the left gear portion or
the right gear portion drives the drive gear, and the drive gear
drives the right gear portion or the left gear portion, so as to
automatically drive the right side or the left side to turn
over.
[0008] The left side further comprises a left shell, a left body, a
left pedestal and a left wheel body, the left shell and the left
pedestal are arranged above and below the left body respectively,
the left wheel body is pivoted in a left pivot joint between the
left body and the left pedestal and comprises a left tire and the
left drive motor arranged on the center of the left tire; the right
body further comprises a right shell, a right body, a right
pedestal and a right wheel body, the right body and the right
pedestal are arranged above and below the right body respectively,
the right wheel body is pivoted in a right pivot joint between the
right body and the right pedestal and comprises a right tire and
the right drive motor arranged on the center of the right tire; and
the left connecting portion and the right connecting portion are
located at one side of the left body and the right body
respectively, the left connecting portion is opposite to the right
connecting portion, the left gear portion and the right gear
portion are located at the upper ends of the left connecting
portion and the right connecting portion respectively.
[0009] The two sensing devices optionally include a support mount
and two angle and accelerometer gyroscopes respectively, the two
support mounts are arranged in the left pedestal and the right
pedestal respectively, and the two gyroscopes of each of the
sensing devices are arranged at the two supporting ends of the
support. The controller further includes a control circuit board
and a power supply unit.
[0010] The two sensing devices can include an infrared sensor or a
piezoelectric sensor respectively, the two infrared sensors or
piezoelectric sensors are arranged in the left shell of the left
side and the right shell of the right side respectively, the front
sides of the left side and the right side are provided with an
indicator lamp respectively, and the two infrared sensors or
piezoelectric sensors and the two indicator lamps are connected to
the control circuit board.
[0011] The left shell and the right shell are further extended and
arranged on a left wheel cover and a right fender respectively, the
left fender and the right fender are arranged above the left wheel
and the right wheel; and the upper surfaces of the left shell and
the right shell are further provided with an antiskid pedal
respectively, and the two antiskid pedals are provided with a
plurality of antiskid strips respectively.
[0012] The scooter may include anti-collision sensors, the
anti-collision sensors may be arranged at the front sides and the
rear sides of the left pedestal and the right pedestal
respectively, and the anti-collision sensors are connected to the
control circuit board. The controller further includes a charging
port and a power switch, the charging port and the power switch are
connected to the control circuit board.
[0013] Compared with the prior art, the present disclosure may
acquire the following technical effects. The left and right scooter
sides are automatically driven by the rotating mechanism to turn
over relatively, so that the synchronous movement scooter is driven
to rotate in a small radius of rotation; the insides of the left
and right scooter bodies are provided with the sensing device
respectively, and each of the sensing device senses the change of
the gravity center of the corresponding side, and controls the
rolling directions and speeds of the left and right wheel bodies;
the left and right scooter bodies are provided with the infrared
sensor or the piezoelectric sensor and the trample indicator lamp
respectively, so that the object of identifying whether a user
steps on the device, synchronous movement scooter is achieved; the
left and right scooter bodies are provided with the antiskid pedal
respectively, which prevents the user from slipping and falling
over the scooter; and the left and right scooter bodies may
optionally contain anti-collision sensors respectively to sense the
distance between the synchronous movement scooter and an obstacle;
when the distance is less than a safe distance, the synchronous
movement scooter may slow down or stop moving, which prevents the
scooter from colliding with the obstacle.
[0014] An optional aspect of the invention involves a handle that
protrudes upwardly from the center section to assist the user for
stability. The angle of the handle is determined by the average
angle of both sides, such that when one side is angled forward and
the other side is angled backward, the angle of the handle does not
change.
BRIEF DESCRIPTION OF THE DRAWINGS
[0015] A preferred embodiment of this invention has been chosen
wherein:
[0016] FIG. 1 is a top isometric view of the device;
[0017] FIG. 2 is a bottom isometric view of the device;
[0018] FIG. 3 is a top view of the device;
[0019] FIG. 4 is a bottom view of the device;
[0020] FIG. 5 is a rear view of the device;
[0021] FIG. 6 is a partial section view of the device in FIG.
5;
[0022] FIG. 7 is a partial bottom isometric view of the device in
FIG. 2 showing the gear drive section and the lower covers
removed;
[0023] FIG. 8 is a section view 8-8 of the device in FIG. 3;
[0024] FIG. 9 is a section view 9-9 of the device in FIG. 3;
[0025] FIG. 10 is an exploded view of the left side and center
section of the device in FIG. 1;
[0026] FIG. 11 is a partial view of the device in FIG. 8;
[0027] FIG. 12 is a section view 12-12 of the device as shown in
FIG. 3; and
[0028] FIG. 13 is an isometric view of the device including a
handle.
DESCRIPTION OF THE PREFERRED EMBODIMENT
[0029] A scooter 10 is shown in FIGS. 1-5 and has three primary
portions. The portions include a left side 12, a right side, 14,
and a center section 16. The left side 12 has a left wheel 18 and
the right side 14 has a right wheel 20. Both are adapted to roll on
the ground or other horizontal surface.
[0030] Turning now to the detail of the left side 12, an upper
housing 22 and a lower housing 24 form a protective and decorative
cover for internal components and electrical connections, shown in
FIGS. 6, 8, 10. As shown in FIG. 8, the left wheel 18 is attached
on one side and is covered by a fender portion 26 of the upper
housing 22. The left side 12, specifically the upper housing 22,
further includes an anti-slip foot pad 28 that is made for the user
to place their weight or stand on. The foot pad 28 may also contain
a presence sensor 30 to detect the rider's presence. Directly
underneath the foot pad 28 is a structure 31 that has downwardly
extending protrusions 29 that change the state of the presence
sensor 30. This is shown in FIG. 12. It is contemplated that the
sensor 30 is contained elsewhere in the left side 12. The sensor 30
can change between a state where the rider is present and a state
where the rider is present and applying weight to a portion of the
left side 12. The sensor 30 can be as simple as a spring-return
momentary switch or have other sensing technology such as load
cells, non-contacting proximity, or further sensing technology not
described herein. As shown in the exploded view in FIG. 10, between
the upper housing 22 and lower housing 24 are several components. A
frame 32 provides structural support for the housings 22, 24 and
has several mounting points. The left wheel 18 is attached on a
wheel attachment portion 34. The frame 32 also has mounting
locations for a control board 36. The frame 32 further has a
receiver 38 for a central shaft 40, shown in FIG. 10. As shown in
FIG. 12, the control board 36 has the presence sensor 30. The foot
pad 28 or structure 31 has the protrusions 29 that extend down and
away from its upper surface to contact the presence sensor 30.
Adjacent the receiver 38 is a gear portion 48, shown in FIG. 9. The
gear portion 48, also referred to as a sector gear, shares a center
point that is intersected by a receiver axis 50, shown in FIG. 10.
The gear portion 48 is a portion of an entire gear, and it is
contemplated that the gear portion is a complete gear. As shown,
the gear portion 48 is affixed to the frame 32, but it is
contemplated that the gear portion 48 is integral to the frame 32
or housings 22, 24.
[0031] The control board 36 further includes a level sensor 42 that
detects the angle of the left side 12 with respect to the earth's
gravity. The level sensor 42 reports the angle as a variable amount
of tilt of the left side 12. The reported angle is the amount of
forward and reverse tilt, with a neutral point between the
transition between forward and reverse tilt. The neutral point is
located where the left side 12, particularly the foot pad 28, is
substantially parallel with the horizon. The control board 36
receives signals from the level sensor 42 and presence sensor 30 to
determine the speed and direction for a motor 46 that is connected
to the left wheel 18. As shown, the motor 46 is a brushless DC
motor that has position sensor feedback and a series of coils
(sensor and coils not shown). The sensor feedback in the motor 46
allows the control board 36 to appropriately enable the series of
coils to drive the left wheel 18. Electric commutation of brushless
DC (BLDC) motors is well known in the art. While the motor 46
described herein is a BLDC motor, it is contemplated that other
types of motors could be used, such as a brushed DC, induction, or
other type not disclosed herein.
[0032] The level sensor 42 can be a MEMS or other vibrating
structure gyroscope sensor, commonly used in smartphones, portable
gaming devices, and other electronic devices that sense angles. The
level sensor 42 measures the angle of the left side 12 with respect
to earth's gravity. Further, because the angle reported by
gyroscopes can be influenced by dynamics, such as acceleration,
vibration, and elevation changes, it is contemplated to further
include an accelerometer in addition to the level sensor 42.
Gyroscopes and comparable level sensors are well-known in the art.
The data generated by the accelerometer can be combined with the
data generated by the gyroscope to generate an angle that is much
more accurate than one of those measuring devices alone. It is
contemplated that the level sensor is another type that is not
specifically described but functions to determine the angle of the
left side 12 to the earth's gravity. It is further contemplated
that the level sensor 42 is mounted elsewhere on the left side 12,
while still detecting its angle. For example, the level sensor 42
detects the angle of the left side 12, typically the foot pad 28,
such that when the left side 12 is at a slight angle in one
direction, the control board 36 commands the motor 46 to rotate
(and left wheel 18) in a first direction. If the angle of left side
12 increases, the control board 36 would increase the speed of the
motor 46. If the left side 12 is tipped in the opposite direction,
the control board 36 would reverse the direction of the motor 46.
If the left side 12 is substantially level and the level sensor 42
is located at the neutral point, the control board 36 would stop
the motor 46 from rotating. It is contemplated that the control
board 36 includes other features, such as remote monitoring
capabilities, Bluetooth accessories, speakers 60, and lighting. For
example, lights 56 can provide important status of the device 10,
such as battery life, charge status, or simply provide decorative
illumination. It is further contemplated that the previously
described other features are affixed to the housings 22, 24 or
frame 32. The lights 56, 156 can be used to indicate battery charge
by changing color or illuminating different segments.
[0033] The right side 14 is nearly identical and symmetrical to the
left side 12 but will be described for clarity. The right side 14,
an upper housing 122 and a lower housing 124 form a protective and
decorative cover for internal components and electrical
connections. The right wheel 20 is attached on one side and is
covered by a fender portion 126 of the upper housing 122. The right
side 14, specifically the upper housing 122, further includes an
anti-slip foot pad 128 that is made for the user to place their
weight or stand on. The foot pad 128 may also contain a presence
sensor 130 to detect the rider's presence. It is contemplated that
the sensor 130 is contained elsewhere in the right side 14. The
sensor 130 can change between a state where the rider is not
present and a state where the rider is present and applying weight
to a portion of the right side 14. The sensor 130 can be as simple
as a spring-return momentary switch or have other sensing
technology such as load cells, non-contacting proximity, or further
sensing technology not described herein. A frame 132 provides
structural support for the housings 122, 124 and has several
mounting points. The right wheel 20 is attached on a wheel
attachment portion 134. The frame 132 also has mounting locations
for a control board 136. As with the frame 32, frame 132 further
has a receiver for a central shaft 40. As shown, the control board
136 has the sensor 130. The foot pad 128 has protrusions identical
to protrusions 29 that extend down and away from its upper surface
to contact the sensor 130. Adjacent the receiver is a gear portion
148. The gear portion 148, also referred to as a sector gear,
shares a center point that is intersected by a receiver axis 50.
The gear portion 148 is a portion of an entire gear, and it is
contemplated that the gear portion is a complete gear. As shown,
the gear portion 148 is affixed to the frame 132, but it is
contemplated that the gear portion 148 is integral to the frame 132
or housings 122, 124.
[0034] The control board 136 further includes a level sensor 142
that detects the angle of the right side 14 with respect to earth's
gravity. The level sensor 142 reports the angle as a variable
amount of tilt of the right side 14. The reported angle is the
amount of forward and reverse tilt, with a neutral point between
the transition between forward and reverse tilt. The neutral point
is located where the right side 14, particularly the foot pad 128,
is substantially parallel with the horizon. The control board 136
receives signals from the level sensor 142 and presence sensor 130
to determine the speed and direction for a motor 146 that is
connected to the right wheel 20. As shown, the motor 146 is a
brushless DC motor that has position sensor feedback and a series
of coils (sensor and coils not shown). The sensor feedback in the
motor 146 allows the control board 136 to appropriately enable the
series of coils to drive the right wheel 20. Electric commutation
of brushless DC (BLDC) motors is well known in the art. While the
motor 146 described herein is a BLDC motor, it is contemplated that
other types of motors could be used, such as a brushed DC,
induction, or other type not disclosed herein.
[0035] The level sensor 142 can be a MEMS or other vibrating
structure gyroscope sensor, commonly used in smartphones, portable
gaming devices, and other electronic devices that sense angles. The
level sensor 142 measures the angle of the left side 12 with
respect to earth's gravity. Further, because the angle reported by
gyroscopes can be influenced by dynamics, such as acceleration,
vibration, and elevation changes, it is contemplated to further
include an accelerometer in addition to the level sensor 142. The
data generated by the accelerometer can be combined with the data
generated by the gyroscope to generate an angle that is much more
accurate than one of those measuring devices alone. Gyroscopes and
comparable level sensors are well-known in the art. It is
contemplated that the level sensor is another type that is not
specifically described but functions to determine the angle of the
right side 14 to earth's gravity. It is further contemplated that
the level sensor 142 is mounted elsewhere on the right side 14,
while still detecting its angle. For example, the level sensor 142
detects the angle of the right side 14, typically the foot pad 128,
such that when the right side 14 is at a slight angle in one
direction, the control board 136 commands the motor 146 to rotate
(and right wheel 20) in a first direction. If the angle of left
side 12 increases, the control board 136 would increase the speed
of the motor 146. If the right side 14 is tipped in the opposite
direction, the control board 136 would reverse the direction of the
motor 146. If the right side 14 is substantially level and the
level sensor 142 is located at the neutral point, the control board
136 would stop the motor 146 from rotating. It is contemplated that
the control board 136 includes other features, such as remote
monitoring capabilities, Bluetooth accessories, speakers 160, and
lighting. It is further contemplated that the scooter 10 has a
single control board 36,136 in the left or right side 12, 14.
[0036] The left side 12 and right side 14 are powered by an onboard
battery 52, 152, shown in FIG. 8. As shown, the battery 52,152 is
located on both the left and right sides 12, 14, but it is
contemplated that only one side holds a battery 52,152. A charging
port 54 allows an external power source to restore charge to the
battery 52, 152 or batteries after the rider depletes them from
use.
[0037] It is commonplace to integrate controls inside of one main
control board, also referred to as a motherboard, that would
contain the software and logic that would control each of the
motors 46, 146 and receive sensor data from the various sensors.
The control boards 36, 136, as well as a motherboard, would have
software that interprets the tilt of its respective side 12,14 and
provide power to the appropriate motor and appropriate direction to
maintain balance or motion. The software typically resides in a
microcontroller or microcontrollers where the inputs involve the
rotational position, speed, and direction of the wheels 18, 20.
Other inputs are the angles of the sides provided by the respective
level sensors 42, 142, along with the state of the rider presence
sensors 30, 130. Further, the battery charge level, charging
status, and other inputs are contemplated. In some embodiments, the
control boards 36, 136 would only contain the necessary sensors to
detect the presence of the rider and the angle of the side 12, 14.
The motherboard would contain a single microcontroller to handle
the functions for both sides, and the sensors and motors would
communicate with the motherboard. Another embodiment is
contemplated where the onboard battery 52 is located in only one
side, and the motherboard is located where the battery 152 is
presently shown. The battery 52, 152 provides power to the control
boards 36, 136.
[0038] Rotatably connecting and located between the left side 12
and right side 14 is the center section 16, shown in FIG. 1. The
center section 16 is located directly between the two, and serves
to couple them. This is detailed in FIGS. 7, 9, and 11. A spider
gear 70 meshes with gear portions 48, 148 to rotatably couple the
left side 12 to the right side 14. The spider gear 70 rotates on a
spider axis 72 and is held in by a fastener 74. The fastener 74
screws into a collar 76 that rides on the central shaft 40. The
collar serves 76 to keep the spacing of the left side 12 and the
right side 14 correct to maintain the proper meshing of the spider
gear 70. As shown, the spider gear 70 rotates about an axis that
extends outwardly and perpendicular to the receiver axis 50. The
embodiment shows the spider gear 70 as a bevel gear, but other
types of gears, such as worm, straight, hypoid, miter, helical, or
spiral are contemplated.
[0039] A stop pin 78 engages the left side 12 and right side 14 to
prevent excessive rotational movement of the left side 12 in
relation to the right side 14. As shown in FIG. 9, the collar 76
has two upwardly protruding fingers 75, 77 that form a channel that
the stop pin 78 passes through. A decorative top cover 80 and
bottom cover 82 safely protect the user from getting fingers or
other things pinched between the gears as they rotate. The covers
80, 82 also prevent objects from becoming entangled in the
mechanism and creating issues with movement. It is contemplated
that the covers 80, 82 contain other features, such as lights or
external decoration that moves with the covers 80,82 or has
external moving parts.
[0040] To control the scooter 10, first the user turns the power on
with the power switch 154. If the batteries 52, 152 have sufficient
charge, the control boards 36, 136 enable an indicator that the
device is powered and any self-test passed. Next, the user puts a
foot on one of the foot pads 28, 128, enabling the respective motor
46,146 and wheel 18, 20. The level sensor 42,142 reports the angle
of the respective side 12, 14 to the control board 36,136 and moves
the motor 46,146 one direction or the other, based on the angle.
The user next puts the other foot on the other side 20, 18,
tripping the other foot pad 128, 28 and enabling the other motor
46, 146 and wheel 20, 18. The other level sensor 142, 42 reports
the angle of the other side 20, 18 and the control board 136,36
moves the other motor 146,46 and wheel 20, 18, based on the angle
of the other side 20, 18.
[0041] Inside the control board 36, 136 or motherboard, a program
runs that receives data from the level sensors 42, 142 and foot
pads 28, 128 and, based on the angle and presence of the rider,
will either rotate the respective wheel and motor in a forward or
reverse direction based upon the angle of the respective side as
calculated by the program. This program may include averaging
function to filter out noise and allow more stability. The greater
the angle of the level sensors 42, 142, the greater the torque or
speed is applied to the motors 46,146 and wheels 18, 20. As speed
increases, other factors may optionally be implemented by the
control board 36, 136, such as a speed alarm or angular offset. If
the scooter 10 is over a predetermined speed, an alarm may sound to
indicate potentially dangerous condition to the user. Other options
include a low battery alarm to indicate to the user that the
scooter 10 needs to be recharged.
[0042] As shown in FIG. 13, the center section 16 may include a
staff 90 that protrudes upwardly toward the user. At the end of the
staff 90 is a handle 92 that the user can grip. The handle would
provide stability for the rider, and because it is coupled to the
center section 16, forward leaning of the handle would correspond
to forward movement. If the user were to tip one of the sides 12,14
one direction and the other side 14, 12 in the opposite direction
in the same amount, the angle of the handle would not change due to
the gear driven coupling of the center section 16 to the sides
12,14. The handle 92 may include controls 94 or information about
the scooter. The controls 94 would be in communication with the
control board 36, 136. Further, the controls may include speakers,
power switch, battery information, charge status, scooter speed,
and other useful information or controls. Further, the staff 90 and
handle 92 may be removable or collapsible to allow the scooter to
be easily transported or stored. The staff 90 may be telescopically
extendable between a stored position and an extended position. The
scooter 10 is usable with or without the handle 92 and staff
90.
[0043] It is understood that while certain aspects of the disclosed
subject matter have been shown and described, the disclosed subject
matter is not limited thereto and encompasses various other
embodiments and aspects. No specific limitation with respect to the
specific embodiments disclosed herein is intended or should be
inferred. Modifications may be made to the disclosed subject matter
as set forth in the following claims.
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